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Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis

Doctor of Philosophy in Mechatronics Engineering

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Bibliographic Details
Main Author: Syed Muhammad Mamduh, Syed Zakaria
Other Authors: Ali Yeon, Md. Shakaff, Prof. Dr.
Format: Thesis
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2017
Subjects:
Swarm intelligence
Robotics
Odour
Gas sensing
Gas source localization
Online Access:http://dspace.unimap.edu.my:80/xmlui/handle/123456789/72938
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id my.unimap-72938
record_format dspace
spelling my.unimap-729382021-12-17T03:41:02Z Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis Syed Muhammad Mamduh, Syed Zakaria Ali Yeon, Md. Shakaff, Prof. Dr. Swarm intelligence Robotics Odour Gas sensing Gas source localization Doctor of Philosophy in Mechatronics Engineering Animals such as silkworm moths, dogs and blue crabs have exhibited odour localization capabilities in nature. This amazing ability is exhibited in complex airflow conditions which produces highly dynamic and unpredictable gas dispersion. Harnessing this capability will enable robots to be deployed in critical and high-value applications such as search and rescue, entry point security applications, and environmental monitoring in industrial and urban settings. This thesis documents the research in swarm intelligence for gas source localization. Using swarm intelligence to achieve this task is envisaged to be more practical and economical compared to single robot implementations. Currently, few works have been presented on multi-robot systems in gas source localization; much less using swarm intelligence. This research aims to fill in the research gaps in gas source localization using swarm intelligence. However, current mobile olfaction experimental methods tend to oversimplify the actual problems thus reducing the findings’ impact in advancing this research field. Furthermore, lack of experimental realism reduces the reproducibility of the previously presented works in real world conditions. To overcome this limitation, this research uses recorded real-time gas dispersion in robot simulations. A real-time gas dispersion monitoring system consisting 72-gas sensors was built to record the gas dispersion in the experiment area. The recorded real-time data stream was then used in simulations to accurately recreate realworld experimental conditions in a simulation environment. 2017 2021-12-17T03:38:03Z 2021-12-17T03:38:03Z Thesis http://dspace.unimap.edu.my:80/xmlui/handle/123456789/72938 en Universiti Malaysia Perlis (UniMAP) Universiti Malaysia Perlis (UniMAP) School of Mechatronic Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Swarm intelligence
Robotics
Odour
Gas sensing
Gas source localization
spellingShingle Swarm intelligence
Robotics
Odour
Gas sensing
Gas source localization
Syed Muhammad Mamduh, Syed Zakaria
Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
description Doctor of Philosophy in Mechatronics Engineering
author2 Ali Yeon, Md. Shakaff, Prof. Dr.
author_facet Ali Yeon, Md. Shakaff, Prof. Dr.
Syed Muhammad Mamduh, Syed Zakaria
format Thesis
author Syed Muhammad Mamduh, Syed Zakaria
author_sort Syed Muhammad Mamduh, Syed Zakaria
title Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
title_short Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
title_full Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
title_fullStr Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
title_full_unstemmed Odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
title_sort odour source localization strategy for multiple robots using swarm intelligence with odour-gated anemotaxis
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2017
url http://dspace.unimap.edu.my:80/xmlui/handle/123456789/72938
_version_ 1724609974159540224
score 13.222552

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